Walking device

ABSTRACT

The invention provides a walking device which stimulates a gait of a legged animal. The device includes a frame with spaced axial mounts, a leg, axially connected upper and lower rocker arms which limit reciprocating leg motion. The leg is driven by a connecting arm powered by a rotating crank. The position and configuration of the axial connecting sites establish a prescribed orbital path that the foot undertakes with each revolution of the crank. Both rocker arms and the crank are axially mounted to the frame. The leg has a hip joint axially connected to the upper rocker arm for limiting hip motion, a foot and a knee joint axially connected to the connecting arm. The connecting arm has three axial connecting sites, one for connecting to the knee, another to the crank, and a third connecting site defined as a centrally disposed elbow joint connecting site which connects onto the lower rocker arm and limits knee joint motion. Under power, crank rotation is transferred to the connecting arm causing the leg to move in an arcuate reciprocating movement of a restricted arcual pathway which stimulates the gait of the legged animal. The walking device may be manually powered or motorized by applying motorized power to the crank axles.

This application claims the benefit of provisional application Ser. No.60/074,425 filed Feb. 11, 1998.

FIELD OF THE INVENTION

The present invention relates to a walking device and its use and moreparticularly to a walking device which simulates a walking or runninggait of a legged animal.

BACKGROUND OF THE INVENTION

It is difficult and often impossible to traverse certain surfaces withwheeled devices. Certain surfaces, such as slippery, sandy, iced, muddy,snowed, etc. surfaces, often result in complete immobilization of thewheeled device. Other difficult to traverse surfaces, such as stepped,obstructed, uneven, etc. surfaces, frequently create insurmountablebarriers for wheeled devices. It would be desirable to provide a walkingdevice which would simulate the walking gait of an animal so as toovercome these shortcomings of wheeled devices.

SUMMARY OF THE INVENTION

The present invention provides a walking device which simulates awalking step or gait of an animal. The device comprises pivotal linkingsites and linkages which actuate a walking gait. The walking deviceincludes a frame which supports a walking assembly composed of acooperative arrangement of linkages axially connected together so as toprovide a walking assembly which simulates the walking gait of ananimal. The linkages are appropriately linked together by axial linkingmeans for axially connecting the linkages together and to the frame. Thelinkages include a pair of rocker arms (upper and lower) axially mountedto a frame, a connecting arm or rod, a reciprocating leg and a crankinglink. The pair of rocker arms includes a first rocker arm (upper) and asecond rocker arm (lower) respectively axially anchored at one of theirrespective rocker arm ends to the frame and to different linkages at anopposite rocker arm end. The cranking link is also axially mounted tothe frame in operative association with a power source and operativelylinked to at least one connecting rod so as to provide locomotion to theinterconnected linkages of the walking assembly. The walking assemblyincludes a reciprocating leg equipped at one leg end with a foot and ahip joint at an opposite leg end. The hip joint is axially coupled to anopposite rocker arm end from the axial mount of one rocker arm end tothe frame. The first rocker arm limits locomotion of the hip joint aboutan acute arcual path as the first rocker arm and upper extremity of theleg reciprocates about the path when placed under locomotion by thepower source.

A connecting rod powered by the cranking link connected to a suitablepower source at a power end of the connecting rod and axially connectedat a drive end of the rod to a knee joint centrally disposed between thehip joint and foot of the leg serves as a drive train for transferringthe revolutionary motion of the cranking link to a reciprocating motionfor powering the leg. The connecting rod includes an elbow jointconnecting site axially linked to the second rocker arm which, similarto the first rocker arm, is also axially anchored at an opposite rod endto the frame.

The second rocker arm serves to limit the reciprocating motion of theelbow joint of the reciprocating arm as well as the knee joint of theleg. In operation, the first rocker arm and the second rocker armcooperatively serve to limit the gait to a reciprocating arcual motion.

The cranking link includes a crank shaft powered by a suitable powersource and a crank pin operatively connected to the connecting rod.Locomotion to the walking assembly is generated by any suitable powersource powering the crank which, in turn, drives connecting rod. Thecrank shaft powered by a manual or motorized power source suppliesrotational motion to the crank pin which transfers the orbital motion tothe reciprocating motion of the connecting rod. Each revolution of thecrank pin simulates a complete step. Thus, for each revolution of thecrank pin, the reciprocating connecting rod as well as the leg willcomplete one reciprocating cycle (i.e. a complete forward and a completerearward reciprocating motion).

The pivotal joints linking the linkages (i.e. the leg, the rocker arm,the connecting rod and cranking linkage) together and to the frame maybe comprised of any suitable connecting link at the linkages whichpermit the linkages to revolve about the connecting links, such as arod, pin, spindle shaft, axle or any other orbital connecting meanswhich permit the linkages to revolve about their respective connectivejoints or links. Three of the linkages, namely the two rocker arms andthe crank, are connectively linked to the frame while the remaininglinkages are interconnected together. The first and second rocker armsrotate about connective axle sites attached to the frame which serve togenerally limit the reciprocating motion of the connecting rod and theleg to arcual path. The frame provides the supportive structure for thelinkages while also permitting a plurality of legged assemblies to bemounted to a single frame.

The rocker arms serve to limit the legged motion to a reciprocatingarcual movement by limiting the horizontal and vertical motion of thereciprocating leg. Thus, when power is supplied to the crank, theconnecting rod rotates about the crank link (pin)causing the rod to movethe leg upwardly and downwardly through an arcual path for 180° (similarto a foot lifting gait) followed by a substantially horizontal backwardmotion to the 360° position at which time the sequence again repeatsitself. Multiple walking assemblies, each of which simulate a single legof an animal, may be mounted to the frame so as to create a walking orrunning gait. In a walking device for simulating the walking gait of ananimal, three or more legs may be effectively utilized to stabilize thedevice against tipping.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts a side elevational view of a single legged walking deviceof this invention, the leg depicted in the grounded, fully extendedgrounded stride position.

FIG. 2 depicts the walking device shown in FIG. 1 with the leg shown inan intermediate grounded stride position. FIG. 3 shows a sideelevational view of the device shown in FIG. 1 depicting the groundedleg at the end of the grounded gait position.

FIG. 4 is a side elevational view of the legged walking device shown inFIG. 1 with the leg being depicted in an elevated position.

FIG. 5 depicts an opposite side elevational view of the device shown inFIG. 1.

FIG. 6 is an opposite side elevated view of FIG. 3.

FIG. 7 is a top elevational view of FIG. 1.

FIG. 8 is a side frontal view of FIG. 1.

FIG. 9 is a rear side elevational view of the device shown in FIG. 1.

FIG. 10 is an exploded view of the components for the device shownabove.

FIG. 11 depicts a side elevational view of a two legged walking deviceof this invention.

FIG. 12 depicts a side elevational view of a double legged tandemwalking device powered by a chain with synchronized legs being shown asconnected in a tandem relationship to a common frame.

FIG. 13 is an opposite side elevational view of FIG. 12.

FIG. 14 is a side elevational view depicting a six legged walking deviceof this invention.

FIG. 15 depicts a motorized version of the walking device depicted inFIG. 14.

FIG. 16 depicts an opposite elevational side view of the device shown inFIG. 11 fitted with hinged shoes.

FIG. 17 illustrates a geometric representation for plotting anddetermining suitable axial coordinates for the walking devices.

FIG. 18 is an elevational isometric view of a motorized wheelchairequipped with an eight-legged walking device of this invention.

FIG. 19 is a side elevational view of the eight-legged device shown inFIG. 18.

DETAILED DESCRIPTION OF THE INVENTION

With reference to FIGS. 1-19, there is provided a walking device(generally referenced by an enumeration 1 and suffixed for illustrativepurposes) for simulating a walking step of an animal, said device 1comprising a supportive frame (3), a reciprocating leg (generallyreferenced as 31) having a foot (referenced by 33) at one leg end, a hipjoint 37 at an opposite leg end from said foot 33 and a centrallydisposed knee joint (generally referenced by 35), a first rocker arm 5axially connected at one rocker arm end to the hip joint 37 and axiallyanchored to the frame 3 by first rocker arm axle 9 at an opposite rockerarm end, a connecting rod 21 (also referred to as a connecting arm)equipped with a knee coupling mount 35 c at a distal connecting rod endfor operationally connecting connecting rod 21 to the knee joint 35, acrank connecting rod mount 17 c at a proximate end of the connecting rod21 and an elbow joint connecting site 27 laterally positioned betweensaid knee coupling mount 35 c and said crank connecting rod mount 17 c,a second rocker arm 7 axially coupled to the elbow joint 27 at a firstend of the second rocker arm 7 and axially mounted to frame 3 by asecond rocker arm axle 11 at a second rocker arm end, and a crank 13axially mounted to the frame 3 by crank shaft 15 which, in turn, isoperatively connected to locomoting means (generally referenced as 29)for powering crank 13. A crank pin 17 of crank 13 is axially connectedto connecting rod mount 17 c at a distal connecting rod end or powerinput end of connecting rod 21.

The walking device 1 may be perceived as comprising one or more basicstructural units, the basic walking assembly 1 of which comprises asingle legged device 1 (or as 1 suffixed by alphabetical letter forillustrative purposes) as depicted in FIGS. 1-10. By combining the basicwalking assembly units together (e.g. 1A, 1B and 1C), multiple leggedwalking devices 4, 8, 8′ and 10 as illustrated in FIGS. 11-16 and 18-19may be created. The number of basic units 1 linked together to form thedesired walking device is unlimited. As may be observed from the basicwalking unit 1 shown in FIGS. 1-10, the basic walking assembly 1 of thewalking device is equipped with two rocker arm linkages (5 and 7) eachof which is axially mounted to frame 3 at axle mounts 9 and 11. Crank 13is also axially mounted to the frame 3 by crank shaft or axle 15 which,in turn, is connected to a suitable power source (manual or powered) forpowering crank pin or spindle 17 positioned in a laterally disposedrelationship to the crank axle 15. The distance knee joint 35 travelswill depend upon the distance traversed by connecting rod 21 which, inturn, depends upon the orbital path of crank pin or rod 17. Referring toFIG. 10, crank pin 17 is operatively connected to the connecting mount17 c of connecting rod 21 at a proximate connecting rod end or powerend. Knee axle 35 a is axially connected at a distal connecting rod endof connecting rod 21 to a knee joint 35. Second rocker arm 7reciprocates about an acute angular arc vortexed at its axle mount 11 toframe 3, while the connecting rod 21 reciprocates in a backward andforward motion when the crank connecting mount 17 c of the connectingrod 21 is drawn about an orbital path of crank pin 17 of crank 13.

The first rocker arm 5 is connected to frame 3 by first rocker arm axle9 which, in turn, maintains hip joint 37 along an arcual path of anacute angular configuration causing the hip joint 37 to be withdrawn inan upwardly direction, and upon completion of the backward motion of leg31 to be thrust in a downwardly and outwardly motion so that leg 31thereby simulates a walking gait as the first rocker arm 5 reciprocatesin its radial backward and forward motion. These gaited movements followa sequential radial pattern which bear a corresponding registration ontothe orbital position of the crank spindle 17 at any given time. For anygiven angular position of spindle 17, foot 33 will, accordingly, bear aconstant registration along a curvilinear and linear pathway as formedby moving foot 33.

Movement of the various linkages about their respective axial connectinglinks may be observed by referring in particular to FIGS. 1-9. FIGS. 1and 5 depict side elevational views of a single legged walking device 1in which leg 31 is shown as being fully extended in the groundedposition. It will be observed that crank 13 and connecting rod 21 bothregister in a fully extended positioning as is leg 31. If crank rod orcrank spindle 17 is prescribed a 0° reading when the leg 31 is in thefully extended position as shown in FIGS. 1 and 5, then various otherpositions of the gait may also be referred by the radial positioning ofcrank rod 17. As previously mentioned, at any radial position of crankrod 17 the walking device 1 will exhibit a given configuration. Thus,the configuration of the various components of the walking assembly 1will undergo cycled transformation in configuration as the crank rod 17rotates about its orbital axis until the crank rod 17 completes itsorbital 360° axis, at which time a repetitive sequence of cycling andconfiguration will then repeat itself. Thus, for any given radialposition of crank spindle or rod 17, the walking assembly 1 will have aprescribed configuration and relationship between its componentlinkages.

The various cycled steps of the walking device 1 as exemplified by asingle legged device 1 may be viewed by referring to FIGS. 1-9. As maybe seen in FIGS. 1 and 5, the leg is fully extended when crank spindle17 is at 0°. In FIG. 2, crank rod 17 is shown as being rotated to a 90°radial position whereupon leg 31 and foot 33 moves to an intermediategrounded stride position. As crank rod 17 rotates to the 180° position(as shown in FIGS. 3 and 6), the grounded leg 31 is then shown at acompletion of its grounded gait position. This would represent a leg 31in its most rearward grounded position immediately before foot 33 islifted from the ground by crank 13. As the crank rod 17 of crank 13rotates clockwise from the 180° position, foot 33 is lifted from thesurface by the arcual movement of leg 31 until rod 17 rotates past a270° angular position, whereupon leg 31 and foot 33 express their mostelevated lifted position (at about 285°) or orbital position. FIG. 5depicts an opposite side view of the walking assembly 1 shown in FIG. 1in which the crank rod 17 has returned to its original 0° position.Further rotation of the device will result in a repetitive recreation ofthe cyclic configurations of an orbital movement of the foot 33 aspartially depicted by FIGS. 1-9. The manner in which the linkagescontrol the gait is uniquely different from conventional means used topropel surface vehicles. When first implanting foot 33, theinterconnected linkages allow foot 33 to follow a substantially linearmovement until it reaches it most rearward position at which time thelinkages lift the foot 33 so it may then traverse impeding objects suchas steps. Meanwhile the frame 3 maintains a substantially parallelrelationship to the surface throughout the walking cycle. Thecurvilinear, substantially linear orbital foot movement of foot 33 (asopposed to a circular orbitation) also allows the foot 33 to beimplanted upon the surface for a sufficient distance to move the walkingunit 1 forward or backwardly. Contact between the walking surface andthe foot 33 in a substantially linear pathway is maintained for abouthalf of the revolutionary time interval of crank 13.

The connecting rod 21 connected to leg at knee joint 35 serves as adriving means for propelling leg 31 in a reciprocating arcual motion.Upon a 180° degree revolution of crank spindle 7, the connecting rod 21will effectuate a complete leg lifting forward movement while for aboutthe remaining 180° revolution of the crank, the connecting rod 21 isdrawn backwardly as it simulates the grounded gait of the leg 31 in awalking sequence. This sequential movement or cycling of leg 31 may bereversed or altered as may be observed by the multiple legged walkingdevices 1 of FIGS. 11-16 and 18-19. By reason of the connecting arm 21being linked to second rocker arm 7, the vertical and horizontal motionof the connecting arm 21 and leg 31 is linked to a prescribed orbitalmotion which includes a substantially linear movement when the foot 33is grounded. This limitation in motion creates a cooperative arrangementof pivotally linked linkages which simulate the gaited walk of a leggedanimal and uniquely create locomotion for the walking device 1.

The rocker arm axial connections (9 and 11) of the first rocker arm 5and the second rocker arm 7 are geometrically positioned upon frame 3 soas to provide a walking device 1 generating a desired orbital pathway orstride for foot 33. The axial mounts 9 m and 11 m of the first andsecond rocker arms 5 and 7 are positioned at a prescribedinterrelationship. Thus, when constructing the device 1 having aprescribed stride length and elevation, it is necessary for these axialmounts 9 m and 11 m to use coordinates which yield the desired stride.The rocker axle mounts 9 m and 11 m may be randomly chosen amongst aninfinite number of possible coordinate sites, the choice of whichprimarily depends upon the desired gait. By configuring frame 3 in atriangular configuration, proper coordinate positioning for axle mounts9 m and 11 m may be achieved while also providing a crank shaft mount15m for crank shaft 15 at the remaining triangular coordinate of thetriangular frame 3. Suitable axle mounting positions for axle mounts 9 mand 11 m, and crank mount 15 m as well as the remaining coordinatingpositions for other walking components may be computed mathematically orgeometrically as illustrated by FIG. 17 and its use to plot coordinatingvalues and positions.

Planar alignment of the linkages for the basic walking assembly 1 may beobserved by referring in particular to FIGS. 1-10. Leg 31, second rockerarm 7 and crank 13 are appropriately placed in vertical or planaralignment with one another while the first rocker arm 5 and theconnecting rod 21 are placed in separate planar alignment with oneanother but in a parallel planar relationship to leg 31, rocker arm 7and crank 13. A first rocker arm spacer 6 of a thickness comparable tothe thickness of leg 31 facilitates placing the first rocker arm 5 inproper alignment with hip joint 37 and leg 31 so as to provide theproper clearance and operation of the reciprocating components. As maybe observed by referring particularly to FIG. 6; leg 31, second rockerarm 7 and crank 13 thus rest in planar alignment with one another whilethe first rocker arm 5 and the connecting rod 21 are in a secondvertical or planar alignment with one another. Appropriate alignment mayalso be achieved by other conventional techniques such as an off-set orbent leg to compensate for the alignment difference.

FIG. 10 depicts an exploded elevational view of the parts of the basicwalking assembly 1 of FIGS. 1-9 and reveals preferred embodiments ofwalking assembly 1, some of which may be occluded from full view inFIGS. 1-9. As will be observed from FIG. 10, the appropriate link sitesmay be suitably provided with bushing or bearing mounts which serve toseat the bushing or bearing and axial components of the walking assembly1. As may be further observed from FIG. 10, triangular frame 3 includesthree bushing mounts, namely the second rocker arm bushing mount 11 m,the first rocker arm bushing mount 9 m and a crank axle bushing mount 15m. Second rocker arm bushing 11 b seated onto second rocker arm bushingmount 11 m within which second arm axle 11 is axially connected tosecond rocker arm axle connection site 11 c serves to axially anchor thesecond rocker arm 7 to frame 3. Similarly, first anchor bushing 9 bseated in first rocker arm bushing mount 9 m of frame 3 within whichfirst rocker arm axle 9 is journaled and connected to first rocker armaxle connecting link 9 c of the first rocker 5 arm which collectivelyserve to axially anchor the first rocker arm 5 to frame 3. It should befurther observed that the first rocker arm spacer 6 serves to providethe appropriate spatial relationship between leg 31 and first rocker arm5.

Similarly, to enhance pivotal movement, crank shaft bushing 15 b isseated in crank axle bushing mount 15 m of frame 3 within which crankshaft 15 is axially mounted and connected to crank axle connecting link15 c. Since the walking assembly or device 1, as depicted in FIGS. 1-10,includes only one leg, there is no necessity for the crank shaft 15 ofthe single legged walking device 1 to be interconnected to other cranks(generally prefixed by number 13) and legs 31 (generally prefixed by 31)as illustrated in FIGS. 11-16 and 18-19. If desired, the crank shaft 15may be extended and connected with an additional or multiple crankshafts 15 on the opposite side of the frame 3 as shown in FIGS. 11,14-15 and 18-19. Crank shaft 15 provides a suitable drive source forconnecting a power source 29 to the walking device 1 for powering atleast one or more crank linkages 13.

As illustrated by FIG. 10, hip joint 37 may appropriately include a hipjoint bushing mount 37m for receiving hip axle bushing 37 b and hip axle37 a connected to hip coupling mount 37 c of the first rocker arm 5. Ina similar fashion, knee joint 35 may appropriately include a knee jointbushing mount 35 m of leg 31 for receiving knee bushing 35 b and kneeaxle 35 a which is seated to knee coupling mount 35 c of connecting arm21. A second rocker arm 7 is shown in FIG. 10 as including an elbowbushing mount 27 m for seating elbow bushing 27 b and elbow axle 27 awhich, in turn, is axially connected to elbow connecting site 27 c.Similarly, crank 13 includes a crank rod bushing mount 17 m for seatingcrank rod bushing 17 b and crank rod 17 which is connected to crankconnecting mount 17 c (occluded from view) of connecting rod 21.

In the drawings, FIGS. 1-13 are depicted as including a crank handle orpedal 29 p. As may be observed from the manually powered walkingassemblies 1 depicted in the drawings, crank rod 17 may be appropriatelyextended so as to provide a crank rod handle 29 p as illustrated inFIGS. 1-11 or a foot pedal 29 p as illustrated in FIGS. 12 and 13. Inthe motorized units, the power may be directly applied to crank shaft 15by motor 29 m to power the walking device 1 as shown in FIGS. 15 and18-19. A single legged walking device 1 may be utilized to providelocomotion and traction to other movable objects such as a cart, sled,conveyor, spout, turnstile, gate, etc.

A series of basic walking assemblies 1 may be assembled together fromthe basic walking structure 1 of FIGS. 1-10 to provide various walkingdevices 4, 8, 8′ and 10 simulating a walking gait of a multiple leggedanimal as illustrated by FIGS. 12-16 and 18-19. If desired, a series oftandemly positioned legs 31 in a fashion similar to those of a centipedemay be secured to a common frame 3′. In the absence of a balancingsystem, the walking device 1 will advantageously include two or morewalking assemblies (i.e. two or more legs) and preferably at least athree paired legged walking device 8, 8′ or 10 such as illustrated byFIGS. 14-15 and 18-19 with the legs 31 being positionally cycled so asto stabilize the device against tipping when powered to walk or run.When utilizing three legs 31, the motion of the legs 31 may beappropriately synchronized so that two of the legs 31 are simultaneouslygrounded while the third leg 31 is in the lifting forward moving gaitcycle. By timing the reciprocating motion of the connecting rod 21 andconnecting legs 31 at cycling 120° intervals, each of the legs 31 willbe undertaking a sequential staging of an isometric gait.

The staging or cycling of the gaited position of the legs 31 so as tosimulate the walking gait of a human may be observed by referring inparticular to FIGS. 11 and 16, which illustrate a walking device 2 or 2′equipped with two basic walking assemblies. This is accomplished byplacing two basic walking assemblies, as depicted by FIGS. 1-10, in aside by side relationship upon a common triangular frame 3 as shown inFIGS. 11 and 16. When referring to multiple legged assemblies 2, thevarious component parts of the walking assembly bear the sameenumeration as applied to the single legged device 1 except for analphabetical suffixing thereto.

In the multiple legged devices 2, duplicate components may, accordingly,be suffixed by capitalized or uncapitalized alphabetical indexing. Thus,in FIGS. 11 and 14, various linkages of the walking device 2 have beensuffixed by an alphabetical subscript (a or b) so as to indicate whethera left- or right-handed component of the walking device 2 is depictedtherein.

When the left leg 31 a is in the most rearward position of FIG. 11, theright leg 31 b is initially implanted onto the surface or the ground.This sequential coordination of the left leg 31 a and the right leg 31 bis achieved by connecting connecting rods (21 a and 21 b)to the crankspindles (17 a and 17 b) in a spatially phased 180° relationship to oneanother. Thus, when the right leg 31 b is drawn to its most rearwardposition by connecting rod 21 b and spindle 17 b, the right connectingrod 21 b will be at its most rearward position as will its relativeposition (180°) upon the spindle 17 b. In contrast, left leg 31 a willbe thrust forward to its most forward grounded stride positioned withspindle 17 a being positioned at the 0° position. Each leg (31 a and 31b) will, accordingly, be appropriately positioned to provide thesequential positioning of the respective legs 31 in a normal walkingmode.

The device may suitably include locomoting or drive means (generallyreferenced as 29) for powering the walking device. The locomoting means29 may comprise manual drive means such as a crank handle, foot pedal 29p, etc. as illustrated in FIGS. 12 and 13 or by fitting crank pin 17with an extended crank handle 29 p as illustrated in FIGS. 1-11. Thewalking or running speed of device 1 will depend in part upon therotational speed or r.p.m. of crank 13. Other independent factorsbearing upon the operational speed relate to the stride length which maybe altered by the length of leg 31, rocker arm linkage 5 and 7 length,positional placement of the mounting sites of rocker arms 5 and 7 uponthe frame 3, reciprocating traversing distance of connecting rod 21 andthe radius or distance between crank shaft 15 and crank rod 17. Similarto walking patterns, a reversal of the direction in which crank 13rotates will effectuate a reversal in the direction of the stride. Thecrank 13, as depicted in the views of FIGS. 1-4, 11, 14-15 and 18-19,when rotating in a clockwise manner will produce a normal forward stridedirection while a counterclockwise movement causes the legs 31 to movebackwards.

In the tandem legged walking device 4 shown in FIGS. 12 and 13, walkingdevice 4 may be powered manually or by motorized means operativelyconnected in place of the foot pedal 29 p and operatively connected tothe crank axle (occluded from view). If desired, power may be appliedeither manually or by means of a motor to either the front sprocket 29 sor rear sprocket 29 o. As may be observed from FIGS. 12 and 13,operational movement of pedal 29 p will rotationally rotate sprocket 29s which, in turn, drives chain 29 c to propel sprocket 29 o. Chain drive29 c serves to drive the rear leg 31 of the tandemly connected legs 31.As may further observed from FIGS. 12 and 13, the forward leg 13assembly 1A and the rear leg 31 1B are phased at a 180° differential.The leg 31 forward shown in the fully extended grounded position withrearward leg 31 being depicted in its rearward most grounded position.Further movement of chain 29 c will result in the rearward leg 31 to belifted off the ground while the forward leg 31 will continue itsrearward movement along the surface until rod 17 rotates another 180degree.

FIG. 14 depicts a manually operated walking device in which three of thewalking assemblies designated as 1C, 1D and 1E) as disclosed in FIG. 11have been integrated together (1C, 1D and 1E) to form a six leggedwalking device 8. As may be also observed in FIG. 14, the paired legs 31of each of the walking assemblies (1C, 1D and 1E) are timed so that thepaired legs are at a 180° cycling differential as depicted in FIG. 11.The walking device 8 as depicted in FIG. 14, includes sufficient leggedground supports so as to maintain its stability when placed in motion.The two paired front assembly units 1C and 1D are positioned in aparallel and lateral alignment with one another, whereas the trailingunit 1E bisects the lateral placement of the two front units 1D and 1C.As will be observed from FIG. 14, the rear unit 1E is articulated to thefront frame at articulating joint 30 so as to permit the rearward unit1E to trailer and follow behind the forward units 1C and 1D. As will beexplained in greater detail in reference to the motorized FIG. 15version of FIG. 14, turning may be effectuated by moving the forwardunits 1C and 1D at different speeds while a constant speed applied tothe two forward units 1D or 1E will generally result in a straight linemovement of the walking device 8. Thus, if it is desired to turn rightwith the walking assembly 8 as depicted in FIGS. 14 and 15, the rightpaired legs 31 of 1D could accordingly be slowed down while the leftpaired legs 31 of 1C would be accelerated so as to effectuate a turningto the right. For turning to the left, the right paired legs 31 would,accordingly, move at a faster rate than the left paired legs 31 therebyallowing a turn to the left. By articulating the rear assembly 1E atjoint 30, the rear assembly 1E simply follows the turning movement ofthe two forward assemblies 1C and 1D.

In an alternative embodiment of the invention as depicted in FIGS. 15and 18-19, walking device 8′ or 10 may be equipped with motors 29 mconnected to a suitable energy source (battery 29 e)and control box 29 bfor powering walking device 8′ or 10 . Any motorized power source(electrical, spring, combustion, etc. engine) may be used to power ordrive the walking device. In the depicted motorized version of FIG. 15,three separate variable-speed, battery-operated, direct-current motors29 m are connected to a battery source 29 e and regulated by a controlbox 29 b so as to permit navigation of the walking device along adesired pathway. When all three variable speed motors 29 m are operatedat the same rotational speed, walking device will travel along astraight path. When one pair of legs 31 of the forward units (1C or 1D)of the walking device is operated at a slower speed than those pairedlegs 31 on an opposite lateral side of the walking device, the walkingdevice will turn towards the side with the slower operational pair ofmoving legs 31. Thus, by varying the speed of variable speed motors 29m, the walking device, shown in FIG. 15, can be turned right or left orallowed to go straight simply by varying the speed of motors 29 m andthe r.p.m. imparted to the respective crank 13 for the paired legs 31.In manually powered or driven walking devices, turning can, likewise, beeffectuated by regulating the force and direction of force applied topedals or crank handles 29 p. In the depicted walking device of FIG. 14,the rear walking assembly 1E is articulated at articulating joint 30 soas to permit articulation of the rearward assembly 1E when turning. Byarticulation and trailering of the rear unit 1E, effective turningsimply may be achieved by varying the speed of the front drivingassemblies 1C and 1D.

With particular reference to the motorized walking device 8′ as depictedin FIG. 15, each of the paired leg walking assemblies 1C, 1D and 1E areequipped with a battery operated variable speed motor 29 m connected tocontrol box 29 b which, in turn, is powered by battery 29 e. In FIG. 15,the variable speed motors 29 m are operatively connected to drivesprockets 29 s which transfer the rotational movement to drive belts 29r which, in turn, power sprockets 29o which are axially linked to thedrive shafts (occluded from view) for turning crank shafts 15.

Joystick 29 j operatively associated with control box 29 b allows thespeeds of the motors to be varied by directional movement of joystick 29j. For example, a straight forward movement may be utilized toeffectuate a straight movement joystick 29 j whereas a slanted forwardmovement would effectuate a slowing of one motor in the direction inwhich joystick 29 j is slanted while the opposite laterally disposedmotor 29 m would be operationally operating at a faster speed or r.p.m.so as to effectuate the turn. Instead of manually controlled joystick 29j, the device 1 may be remotely controlled (e.g. via radio) so as toallow an unmanned walking device 1 to traverse rugged terrain includingterrains which are normally impassable or difficult to traverse withwheeled or tracked vehicles.

Other conventional means for turning wheeled vehicles may be effectivelyadapted to multiple legged vehicles of the present invention. Forexample, crank shafts, cranks, hydrostatic drive systems or drivesprockets may be individually fitted with braking systems so as toimpede the speed of one or more walking assemblies 1 when a turn isbeing effectuated by the operator.

FIG. 16 is a side elevational view of the two legged walking assemblydevice 1 of FIG. 11 fitted with axially or pivotally mounted shoes 35 s.An off-set axle at mount 33 r shoe 33 s to foot 33 places the shoe 33 scenter of gravity towards shoe heel section 33 h allowing the toesection 33 t to gravitationally pivot upwardly when foot 33 and shoe 33s are lifted from the surface or ground. Spring actuated, hydraulicactuated, or other mechanical means for tipping the top section 33 tupwardly may be used to place shoe 33 s in the appropriate toe and heelposition for walking or running. The faster foot movements may befacilitated by mechanical aides for expeditious positioning the toe andheel in the proper stride position. Similar to a human foot, shoe 33 sincreases base surface area coverage of the grounded foot 33 therebystabilizing the walking device 1 against tipping. Increased surface areacoverage importantly allows the walking device 1 to walk across soft,non-firm, uneven, displaceable, dispersible, etc. surfaces (e.g. mud,snow, sand, grass, etc.) which are most difficult to traverse withconventional wheeled devices. Other conventional means for stabilizingthe walking device 1 against tipping (e.g. inertia systems, loweringcenter of gravity, weight shifting systems, gyroscopic means,stabilizing arms, etc.) may be utilized to stabilize the lesser leggedwalking devices 1 against tipping.

FIGS. 18 and 19 respectively depict an elevational isometric view and aside elevational view of a motorized walking device (generallydesignated as 10 equipped with chain 90)of FIGS. 18 and 19 embodying themotorized and pivoting foot embodiments of the walking device asdepicted FIG. 15. The walking device 10 includes four paired leg walkingassemblies (1A, 1B, 1C, 1D) powered by four battery-powered,variable-speed motors 29 m operatively connected to control box 29 bwhich, in turn, is powered by a suitable battery source (not shown). TheFIGS. 18 and 19 walking chair device 10 is similar to a wheelchairexcept for the replacement of conventional wheels with the four walkingassemblies 1A, 1B, 1C and 1D.

Similar to the walking device 8′ as shown in FIG. 15, four variablespeed motors 29 m are used to separately power each of the walkingassemblies 1A, 1B, 1C and 1D as shown in FIGS. 18-19. Conventional drivemeans, such as shaft, pinion, and spur gears, belts, chain drives,variable clutch systems, etc., may be appropriately utilized to transferpower to crank shaft 15. As mentioned before, movement of joystick 29 jin cooperative combination with control box 29 b allows the speeds ofthe motors to be varied by the directional movement of joystick 29 j ina conventional manner.

The legs 31 of the walking chair device 10 are fitted with pivotallymounted feet 33 which enhance the traction and stability of the walkingdevice 10. Similar to the construction of wheeled wheelchairs, the rearwalking assemblies (1C and 1D) are pivotally mounted to frame 3″,whereas the forward walking assemblies 1A and 1B are rigidly affixed tothe bottom front base of frame 3. Similar to other depicted walkingdevices, the walking wheelchair device includes reciprocating legs 31equipped with feet 33, a hip joint 37 opposite from the foot 33, acentrally disposed knee joint 35, a first rocker arm 5 axially connectedat one end of the rocker arm 5 to the hip joint 37 and axially connectedto frame 3″ by a first rocker arm axle 9 at an opposite arm end, and aconnecting rod 21 equipped with a knee coupling mount 35 c (e.g., suchas shown in FIG. 10) at the distal connecting rod end for operationallyconnecting rod 21 to knee joint 35.

Similar to the other walking devices mentioned above, a crank connectingrod mount 17 c (e.g., such as shown in FIG. 10) at the proximate end ofthe connecting rod and elbow joint connecting site 27 (e.g., such asdepicted in FIG. 10) laterally positioned between said knee couplingmount connecting rod 35 c (e.g., such as shown in FIG. 10) and the crankconnecting rod mount 17 c (e.g., such as shown in FIG. 10) and also asecond rocker arm 7 axially connected to the elbow joint 27 (e.g., referto FIG. 10) at the first end of the second rocker arm 7 and axiallymounted to frame 3 by a second rocker arm axle 11 (e.g., refer to FIG.10) at a second rocker arm end, and a crank 13 axially mounted to theframe 3 by crank shaft 15 (e.g., refer to FIG. 10 for correspondingshaft) which, in turn, is operatively connected to locomoting means(generally referenced as 29 in the Figures) provides power to crank 13.A crank pin 17 of crank 13 is axially connected to connecting rod mount17 c (e.g., again refer to FIG. 10) at a distal connecting rod end orpower input end of connecting rod 21.

Chair 90 is integrated into the frame 3 structure so as to provideseating for an occupant. Chair 90 is equipped with a backrest 92, seat94, armrests 96 and a foot rest 98 with joystick 29j and its associatedcontrol box 29 b being conveniently mounted to the right side armrest96.

The side-elevational view of FIG. 19 shows in greater detail thecooperative relationship between walking assemblies 1C and 1D. Theremaining components as designated in FIGS. 18 and 19 bear acorresponding relationship to those component parts as disclosed inFIGS. 1-16 with the exception of the particular placement of the walkingassemblies 1A, 1B, 1C, and 1D. The walking device 10 has a particularadvantage over the wheeled wheelchairs in that the walking chair device10, as illustrated in FIGS. 18 and 19, has a unique ability toeffectively traverse vertical obstructions such as curbs, steps, etc.The walking device 10 effectively traverses unprepared, tough,obstructed and uneven surfaces, thus, substantially increasing the rangeof locations inaccessible to conventional wheelchairs.

The walking device 1 of this invention uniquely allows frame 3 and foot33 to traverse the ground in a substantially parallel elevationalrelationship. Similar to an automobile with wheels traversing thesurface in which the axles remain in parallel alignment to the surfacebeing traversed by the vehicle, the walking device 1 of this inventionpermits the frame 3 to maintain its parallel relationship to the groundas it traverses the ground. This is basically accomplished by thecooperative arrangement of the working components which transform motioninto a curvilinear and substantially linear orbital pathway of thegrounded foot 33 as provided by this walking device 1. When the foot 33is in the grounded forward stride position, foot 33 moves backwardly ina substantially linear path so that the frame will maintain itssubstantially parallel relationship to the ground while foot 31traverses to the ground from the beginning of its stride to the endingof the stride. Upon completion of the stride, the foot 33 transforms theorbital and reciprocating motion into a curvilinear pathway so that thefoot 33 may be appropriately lifted to the stepping height. The stepheight of the gait may be varied by the selection of the various pointswhich are utilized for the various axial points and linkages for thewalking device 1. The walking device as depicted in FIGS. 1-16 aredesigned so as to have a maximum step height amounting to 0.5424 or54.24% of its stride length. In other words, the foot 33 is liftedslightly more than ½ of the stride length. This allows the leg 33 anddevice 1 to clear obstacles which may be approximately 54% of the stridelength. The stride elevation and stride length may be altered bymodifying the cooperative arrangement of the stride regulating featuresof the invention. For faster moving devices 1, a lower stride elevationthan depicted facilitates operational speed of the device 1.

The walking device 1 of this invention may be utilized in any machineadapted to traverse over ground surfaces. The walking device 1 may be,accordingly, utilized in those applications conventionally relying uponwheels or tracks. The walking device 1 of this invention has definitiveadvantages over wheeled and tracked devices in that similar to the legsof animals, it possesses an ability to step over obstacles (e.g. steps,curbs, mud, snow, sand, etc.) rather than rolling through or aroundobstacles. Consequently, the walking device 1 is capable of traversingterrains in which conventional tracked or wheeled objects could nottraverse or would be difficult to traverse. Unlike wheeled devices,there exist no rolling friction between legs 31 and the surface. Unlikewheeled and tracked devices, the walking device 1 of this invention doesnot leave a continuous track or pathway, but rather similar to leggedanimals, it leaves footprints. Unlike conventional wheeled or trackeddevices, the present device 1 can be adapted to effectively navigatesteps and stairs. Also, similar to animal tracking, the walking device 1of this invention is capable of doing less damage to the terrain thanwheeled or tracked vehicles. It is also capable of undergoing delicateor tight maneuvers which cannot be effectively accomplished with wheeledor tracked vehicles.

Illustrative uses for the present walking device 1 include manned andunmanned vehicles. As previously mentioned, the legged vehicles may bemotorized or manually powered. Exemplary adaptations of the presentwalking device 1 include those presently provided by motorizedtransporting vehicles for family, industrial, agriculture andrecreational purposes; human powered vehicles and cycles; wheelchairs;autonomous vehicles; remote-controlled vehicles; all-terrain vehicles;walking devices for disabled animals such as paraplegics, bicycles,tricycles; legged replacements for wheeled and tracked toys; imitationor toy animals; animated cartoon characters; mobile units and the like.

The length between the axial mounts of the various components of thewalking device 1 and their respective spatial relationship have a directbearing upon the orbital movement of the foot 33 or stride of walkingdevice 1. As typified by the single legged walking device shown in FIGS.1-10, if it is desired to create a walking device 1 having a groundedstride measuring one unit (e.g. such a unit may be in any unit size suchas inches, foot, yards, meters, etc.) and a vertical stride lift(elevation) of 0.5424 unit (i.e. of stride length), the following unitdistances between the axle mounts and positioning of axle mounts may beused to construct such a walking device 1. The distances between therespective axle sites and axle positioning have a direct bearing uponthe orbital movement of the foot. Similarly, by increasing thedimensional size of the components the orbital movement of foot 33 willcorrespondly increase. In constructing such a device, the frame may besuitably constructed of a triangular frame for supporting axle framemounts 11 m, 9 m and 15 m having a leg side (front) measuring 0.8017unit from the center point of second rocker arm mount 11 m to firstrocker arm mount 9 m, a rear triangle side measuring 0.5848 unit fromthe center of first rocker arm bushing mount 9 m to crank axle mount 15m and a base triangle side (bottom) measurement between the rocker armbushing mount 11 m and crank axle bushing mount 15 m of 0.6168 unit. Aleg measuring approximately two units bent at the knee so as to form150° angular bend (as measured from the rear of the bent leg) may beeffectively utilized in constructing a suitable leg for the walkingdevice 1 as shown in FIGS. 1-10. The distance measures 0.896575 unitlength between its axial knee mount 35 m to its axial connection to hipjoint mount 37 m of leg 31. The distance from the base of foot 33 to hipjoint mount 37 m measures 1.7320 (straight lineal) units. The axialcentering points between first rocker mount 9 c to the hip mount 37 c ofthe first rocker arm 5 measures 0.517638 units. The distance between theknee 35 coordinate to the center point of foot 33 measures 0.8966 units.The distance between the axial center of crank rod connection 17 c toelbow connecting site 27 c center measures 0.3236 units. In the secondrocker, the centering distance between elbow connecting site 27 c andthe second rocker mount 11 c measures 0.32357 units. The centeringdistance between crank rod connecting mount 17 c of connecting rod 21and knee coupling mount 35 c of connecting rod 21 measures 1.0991 units.The centering distance between the crank connecting mount 17 m and crankshaft 15 mount measures 0.267949 units. The centering distance betweenaxial knee mount 35 m to elbow joint 27 c measures 0.510412 units.

When mounting the walking device 1 as depicted in the figures, thedistance between frame 3 and the surface of a fully grounded foot 33should be sufficient so as to provide a positioning of the linkages soas to optimize the linear pathway of the foot 33. This may beaccomplished in the above dimensionally described device 1 bypositioning the second rocker arm axle mount 11 m at an elevation of0.7106 units above the pathway and the crank axle bushing mount 15 m atan elevation of 0.8920 units above the pathway.

The walking device 1 having the characteristics as defined inimmediately above paragraphs when, as described above, are assembledtogether as shown in FIGS. 1-10 will provide a single legged walkingunit 1 having grounded a stride measuring one unit and an inherentability to lift the foot upwardly and forwardly 0.5424 unit at itshighest elevational point, which point occurs at approximately a 284°rotational position of the crank rod 17. As commonly understood, theseunits may be given any prescribed value such as in inches, feet, meters,etc. so long as they bear the unitary relationship as mentioned herein.Thus, the walking device 1 having the aforementioned dimensional andpositional alignments will have the walking characteristics as definedimmediately above.

The unitary sized links and their respective planar geometric placementin providing walking device 1 may be computed mathematically or by theplotting from geometric configurations. FIG. 17 illustrates a geometricrepresentation for plotting or determining suitable axial coordinatesfor constructing the walking device 1.

In the geometric determination, the length of the stride is selected asone unit and is represented by a horizontal line segment or chord 50 s.The left endpoint 33 x of this line segment 50 s represents the foot 33when the device 1 is fully extended in the grounded stride position asshown in FIG. 1. The other endpoint 33 y represents the foot 33 at theend of the grounded gaited position as shown in FIG. 3. A line 51 n isdrawn perpendicular to and centered on line 50 s to provide a bisectingperpendicular line 51 n. Point 52 p is located on this line (FIG. 17shows 52 p being 0.8660 units above 50 s). For a different unit and footpattern point 52 p may be repositioned along line 51 n. A circle 53 ccentered at 52 p is then drawn. The radius of the circle 53 c is greaterthan one-half the stride length. As may be measured, circle 53 c in FIG.17 has a radius of one unit. Point 62 p is located at the radianintersection of line 51 n and circle 53 c. A vertical line 54 sperpendicular to line 50 s is drawn from point 33 x. Anotherperpendicular line 55 s to line 50 s is drawn from point 33 y. Theintersections of parallel lines 54 s and 55 s and the upper half ofcircle 53 c form points 56 p and 57 p respectively.

Point 9 may be positioned on circle 53 c to the right of 55 s or to theleft of 54 s. For illustrative purposes, point 9 is shown as beinglocated on radian 53 c of circle 53 c 60° to the right of verticalintercept of line 51 n on circle 53 c in FIG. 17. Point 9 represents asuitable mounting position for axle mount 9 m of upper rocker arm 5 toframe 3. Three lines are drawn from point 9 to points 56 p, 62 p and 57p which are labeled 58 s, 59 s and 60 s respectively. Line 61 s is drawnfrom point 33 x to point 62 p. The angle 63 a between line 51 n and line61 s as shown in FIG. 17 is measured. A line 64 s is drawn from point 62p so that angle 63 a is recreated as 63 a′ between 64 s and 59 s. Point37 x is located at the intersection of lines 64 s and 58 s. Point 37 yis located on line 60 s the same distance from point 9 as the distancebetween point 37 x and point 9 (points 37 y and 57 p coincide in FIG.17).

Point 65 p is located on the lower portion of circle 53 c (FIG. 17 showspoint 65 p directly beneath point 52 p). Three lines are drawn from 65 pto points 56 p, 62 p and 57 p, which lines are labeled 66 s, 67 s and 68s respectively. It should be noted that lines 51 n and 67 s coincide inFIG. 17. A line 69 s is drawn from point 62 p so that angle 63 a isrecreated as 63 a′ between 69 s and 67 s (note lines 69 s and 61 s alsocoincide in FIG. 17). Point 35 x is located at the intersection of lines66 s and 69 s. Point 35 y is located on line 68 s the same distance frompoint 65 p as the distance between points 35 x and 65 p.

A line 70 s is then drawn from point 35 x to point 35 y. Theintersection of line 70 s and 67 s form point 71 p (points 71 p and 52 pcoincide in FIG. 17). Point 72 p is located on line 67 s the samedistance from point 65 p as the distance between points 35 x and 65 p. Alines 73 s is drawn perpendicular to line 67 s midway between points 71p and 72 p. Point 74 p is located at the intersection of lines 67 s and73 s. Point 75 p is located on line 73 s (the distance between points 74p and 75 p in FIG. 17 is 1.0986 units).

A line segment 76 s with the length of one-quarter of the length of line70 s is then drawn perpendicular to line 73 s and on the downward sideof 73 s at point 75 p. The end point of line 76 s opposite point 75 p islabeled point 15 which identifies the axle location or crank shaft mount15 m on frame 3 for crank shaft 15. A line segment 77 s having the samelength as line 76 s is then drawn perpendicular to line 73 s at point 75p on the upward side of line 73 s. The endpoint of line 77 s oppositepoint 75 p is labeled 78 p. A line 79 s is then drawn parallel to line73 s that passes through point 15. Point 29 y is located on line 79 s onthe opposite side of line 76 s as line 67 s which is at a distance frompoint 15 equal to one-half the length of line segment 70 s. Point 29 xis located on line 79 s on the opposite side of point 15 as point 29 yat a distance from point 15 equal to one-half the length of line segment70 s.

Point 27 x is located on line 79 s (FIG. 17 uses a distance of 0.5895units between points 29 x and 27 x). Point 27 y is located on line 79 sthe same distance from point 29 y as the distance between points 27 xand 29 x. Point 80 p is located at a point that is the same distancefrom point 72 p as the distance between points 35 x and 27 x, and thesame distance from point 78 p as the distance between points 27 x and 29x. A line 81 s is drawn from point 27 x to point 80 p. A line 82 s isdrawn from point 80 p to point 27 y. A line 83 s is drawn perpendicularto line 81 s midway between points 27 x and 80 p. A line 84 s is thendrawn perpendicular to 82 s midway between points 80 p and 27 y. Theintersection of lines 83 s and 84 s at point 11 identifies the locationof the second rocker arm axle mount 11 m to frame 3.

The geometric depiction of FIG. 17 also identifies the placement andorbital pathway of crank rod or pin 17 (shown as power source 29) in thefully extended position 29 x or retracted ground stride position 29 y,the knee joint 35 in the extended 35 x and retracted position 35 y, theextended hip joint 37 x and retracted hip joint 37 y and the elbow joint27 as extended 27 x and retracted 27 y. Measurements for the appropriatelinkages may be measured from the appropriate linking points of FIG. 17.

The following Table 1 sets forth the coordinates for the points shown inFIG. 17:

TABLE 1 X Y 9 1.366 1.366 11 1.009 0.574 15 1.599 0.750 27X 0.741 0.75027Y 1.277 0.750 29x 1.331 0.750 29y 1.867 0.750 33x 0.000 0.000 33y1.000 0.000 35x 0.232 0.866 35y 0.768 0.866 37x 0.866 1.500 37y 1.0001.732 52p 0.500 0.866 56p 0.000 1.732 57p 1.000 1.732 62p 0.500 1.86665p 0.500 −0.134 72p 0.500 0.901 78p 1.599 1.018 80P 1.022 0.894

As evident from the aforementioned, the positioning of 52 p (centerpoint) may be adjusted upwardly or downwardly along line 51 n which, inturn, will alter the placement of the coordinates of FIG. 17. FIG. 17shows how the device 1 having the particular characteristics as definedin a preferred embodiment of the invention may be constructed. Bychanging the configuration of the stride and its placement, a completelydifferent set of suitable coordinates may be derived using thedetermined methodology as described above. The dimensions and positionalplacement for the pivotal coordinates of device 1 may also be calculatedfrom Table 1 by using the Pythagorean Theorem.

In the walking chair device 1 as depicted in FIGS. 18 and 19, it isdesirable to design the linkages to permit device 1 to step onto thecurb while still maintaining a profile low enough to clear seat 94. Thestep height for the walking chair 1, as shown in FIGS. 18 and 19 is setat 7.5 inches, the stride length at 12 inches and the deviation fromlinear of +/−0.33 inches.

The linkages, as shown in FIGS. 18 and 19, are proportioned differentlythan those of FIGS. 1-16 as described in Table 1. The four sets of legs(1A, 1B, 1C and 1D) on the walking chair 10, as shown in FIGS. 18 and19, are dimensioned in inches using a standard Cartesian coordinatesystem with location 33 x as the origin as tabulated in Table 2. Therear two sets of legs 1B and 1D are shown in a forward motion positionwith the extended foot as the most rearward point. The rear two sets oflegs (1B and 1D) swivel about a vertical axis which is in alignment withthe second rocker arm axle 11. The distance between locations 33 x onthe front and rear sets of legs in FIGS. 18 and 19 is set at 60 inchesso as to provide a balanced stability regardless of the direction oftravel.

The walking device chair 10 linkages may be defined using thecoordinates of Table 2 which tabulates the pivot points for the FIGS. 18and 19 walking chair 10:

TABLE 2 X Y 9 17.818 16.076 11 12.101 10.186 15 17.607 11.807 27X 9.12511.807 27Y 15.077 11.807 29X 14.631 11.807 29Y 20.583 11.807 33x 0.0000.000 33y 12.000 0.000 35x 3.024 13.099 35y 8.976 13.099 37x 11.11919.200 37y 13.578 22.130 52p 6.000 13.992 56p 0.000 24.384 57p 12.00024.384 62p 6.000 25.992 65p 6.000 1.992 72p 6.000 13.491 78p 17.60714.783 80P 12.236 13.572

In the figures depicting the walking device, the various component partsare enumerated with a corresponding number in each of the figures so asto provide consistency in the depicted components from one walkingdevice to another. In certain of the figures, such as in FIGS. 10-11,14-16 and 18-19 similar components have enumerated the same but withdifferent alphabetical indexing in order to explain in more detail howsimilar component parts relate to one another in the walking device.

What is claimed is:
 1. A walking device for simulating a walking step of an animal, said device comprising: a) a frame having a first rocker arm mount, a second rocker arm mount and a crank mount positioned in a spaced relationship so as to regulate the walking step; b) a leg having a foot at one leg end, a centrally disposed knee joint and a hip joint at an opposite leg end from said foot; c) a first rocker arm axially connected at one rocker arm end to the hip joint and axially mounted to the first rocker arm mount at an opposite rocker arm end; d) a connecting arm having a knee coupling mount at a distal connecting arm end for operationally connecting the connecting arm to the knee joint, a crank rod connecting sit at a proximate end of the connecting arm and an elbow joint connecting site positioned between said knee coupling mount and said crank rod connecting site; e) a second rocker arm axially coupled to the elbow joint connection site at a first end of the second rocker arm and axially mounted to the second rocker arm mount at a second end; and f) a crank axially mounted to the crank mount for revolutionary motion about the crank mount at one crank end and connected to a crank rod at the crank rod connecting site of the connecting arm at an opposing crank end of the crank; with said first rocker arm and said second rocker arm upon the revolutionary motion of the crank cooperatively serving to limit the walking step of the leg to a reciprocating arcual motion as the knee joint is driven by said connecting arm.
 2. The walking device according to claim 1 wherein the first rocker arm is axially connected to the hip joint and axially mounted to the first rocker arm mount and the second rocker arm is axially connected to the elbow joint connecting site and the second rocker arm mount in an axially spaced interrelationship so as to maintain the foot in a substantially horizontal pathway in contact with a surface for more than 90 revolutionary degrees of the crank rod and to vertically lift the foot from the surface for at least 90 revolutionary degrees of the crank rod.
 3. The walking device according to claim 1 wherein the device includes a plurality of legs operatively driven by a number of connecting arms operatively connected to an equal number of cranks.
 4. The walking device according to claim 3 wherein the walking device is equipped with variable speed locomoting means for turning the cranks at varying rotational speeds.
 5. The walking device according to claim 1 wherein the first rocker arm and the second rocker arm are axially mounted in a spaced axial relationship so as to permit the foot to follow in a predetermined orbital pathway of movement.
 6. The device according to claim 5 wherein the spaced axial relationship maintains the foot in a substantially linear pathway for about one-half of a revolution of the crank and for a remaining revolution of the crank maintains said foot 180° upwardly and forwardly position so as to permit the foot to clear grounded objects.
 7. The walking device according to claim 1 wherein the device includes at least a pair of laterally disposed legs axially connected to paired crank rods operatively disposed at about a 180° angular differential relationship from one another so as to permit one leg of the pair to be in an uplifted position while an opposite leg of the pair being positioned at a grounded stride position.
 8. The walking device according to claim 1 wherein the walking device includes at least six paired legs paired together as a pair of legs disposed in a lateral relationship with each pair of said paired legs being driven by crank rods phased at about a 180° angular differential from one another so as to stimulate the walking gait of said animal.
 9. The walking device according to claim 8 wherein the paired legs are driven by connecting rods operationally connected to cranks powered by variable speed locomoting means for turning the cranks at different rotational speeds for each of said paired legs.
 10. The walking device according to claim 9 wherein the paired legs include at least a pair of front legs and at least a pair of rear legs and the frame for said walking device further includes an articulated section between said front legs and said rear legs so as to permit articulation thereof when subjecting said walking device to a turning maneuver.
 11. A method for traversing a surface with a walking device which simulates a walking step of an animal, said device comprising a frame having a first rocker arm mount, a second rocker arm mount and a crank mount positioned upon the frame in a predetermined spaced relationship so as to regulate movement of the walking step; a leg having a foot at one end, a centrally disposed knee joint and a hip joint at an opposite leg end from said foot; a first rocker arm axially connected at one rocker arm end to the hip joint and axially mounted to the first rocker arm mount at an opposite rocker arm end, with said first rocker arm serving to limit locomotion of the hip joint about an acute arcual path; a crank axially mounted to the crank mount at one end and equipped with a crank rod at an opposite crank end; a connecting arm for providing a reciprocating motion to the leg with said connecting arm being axially connected to the crank rod at a proximate end of the connecting arm and having a knee coupling mount at a distal connecting arm end axially connected to the knee joint; crank connecting rod mount at a proximate end of the connecting arm and an elbow joint connecting site disposed between said knee coupling mount and said crank rod; a second rocker arm axially coupled to the elbow joint connecting site at a first end of the second rocker arm and axially mounted to the second rocker arm mount at a second end with said second rocker arm serving to limit the reciprocating motion of the elbow joint connecting site; and locomoting means for rotationally turning the crank, said method comprising: a) placing the walking device upon the surface in a walking position; and b) engaging the locomoting means so as to rotationally move the crank about an orbital axis causing the connecting arm to drive the leg in a reciprocating arcual motion of a limited horizontal and vertical movement, and thereby enable the walking device to traverse said surface.
 12. The method according to claim 11 wherein the walking device includes a plurality of legs and multiple cranks equipped with variable speed locomoting means for turning the cranks at different rotational speeds, said method including adjusting the rotational speeds of the cranks to a predetermined orbital movement for each of said cranks and thereby permit the walking device to traverse the surface along an irregular predetermined pathway.
 13. The method according to claim 11 wherein the walking device includes the plurality of legs interconnected to the cranks in such a manner so that a positioning of the foot for each leg may be adjusted to a timed sequential setting, said method including timing the sequential setting so that the foot of at least three legs of the plurality will be in a grounded position at any given time during the engaging of the locomoting means.
 14. The method according to claim 11 wherein the surface includes projecting obstacles and the method includes the traversing of the projecting obstacles with said walking device.
 15. The method according to claim 14 wherein the projecting obstacle comprises a flighted step and the method includes traversing the flighted step with said walking device. 